cmake_minimum_required(VERSION 2.8.3)
project(dn_object_detect)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_geometry
  image_transport
  roscpp
  sensor_msgs
  std_msgs
  message_generation
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
if (NOT CPUOnly)
FIND_PACKAGE(CUDA)
endif()

if (CUDA_FOUND)
    message(STATUS "CUDA Version: " ${CUDA_VERSION_STRINGS})
    message(STATUS "CUDA Libararies: " ${CUDA_LIBRARIES})
    include_directories(SYSTEM ${CUDA_INCLUDE_DIRS})
    list(APPEND LIBRARIES ${CUDA_LIBRARIES} ${CUDA_CUBLAS_LIBRARIES} ${CUDA_curand_LIBRARY} ${CUDA_cusparse_LIBRARY})
    list(APPEND CUDA_NVCC_FLAGS "-std=c++11;-O2;-Xcompiler \"-fPIC\" ")
    list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_20,code=compute_20 ")
    list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_30,code=compute_30 ")
    list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_35,code=compute_35 ")
    list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_50,code=compute_50 ")
    list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_52,code=compute_52 ")
    set(CUDA_PROPAGATE_HOST_FLAGS OFF)
    add_definitions(-DGPU -DCUDNN)
    cuda_include_directories(src)
else()
    list(APPEND LIBRARIES "m")
endif()


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
   FILES
   ObjectInfo.msg
   DetectedObjects.msg
   AnnotatedView.msg
)

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
   DEPENDENCIES
   std_msgs
   sensor_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES dn_object_detect
#  CATKIN_DEPENDS cv_bridge image_geometry image_transport roscpp sensor_msgs std_msgs
#  DEPENDS system_lib
  CATKIN_DEPENDS message_runtime
)

###########
## Build ##
###########
add_definitions(-DOPENCV)
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(dn_object_detect ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
add_executable(dn_object_detect
   src/dn_object_detect.cpp
   src/MultiClassObjectDetector.cpp
)
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(dn_object_detect ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_dependencies(dn_object_detect ${catkin_EXPORTED_TARGETS})
add_dependencies(dn_object_detect ${PROJECT_NAME}_generate_messages_cpp)

add_library(darknet_objects_detection SHARED IMPORTED)
set_target_properties(darknet_objects_detection PROPERTIES IMPORTED_LOCATION ${PROJECT_SOURCE_DIR}/lib/libyololib.so)

## Specify libraries to link a library or executable target against
target_link_libraries(dn_object_detect
   darknet_objects_detection
   ${catkin_LIBRARIES}
)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
install(TARGETS dn_object_detect dn_object_detect
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)

install(DIRECTORY data/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/data
)

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_dn_object_detect.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
